typedefs.h

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/*
 * This file is part of the CoverageControl library
 *
 * Author: Saurav Agarwal
 * Contact: sauravag@seas.upenn.edu, agr.saurav1@gmail.com
 * Repository: https://github.com/KumarRobotics/CoverageControl
 *
 * Copyright (c) 2024, Saurav Agarwal
 *
 * The CoverageControl library is free software: you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or (at your
 * option) any later version.
 *
 * The CoverageControl library is distributed in the hope that it will be
 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along with
 * CoverageControl library. If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_TYPEDEFS_H_
#define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_TYPEDEFS_H_
 
#define EIGEN_NO_CUDA   // Don't use eigen's cuda facility
#include <Eigen/Dense>  // Eigen is used for maps
#include <queue>
#include <vector>
 
namespace CoverageControl {
 
typedef Eigen::Vector2d Point2;  
typedef Eigen::Vector2f Point2f; 
typedef Eigen::Vector3d Point3;  
typedef Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
    MapType; 
typedef std::vector<Point2>
    PointVector; 
struct PolygonFeature {
  PointVector poly;
  float imp = 0; 
  int size = 0;  
  PolygonFeature() {}
  PolygonFeature(PointVector const &p, float const i) : poly{p}, imp{i} {
    size = poly.size();
  }
};
 
struct Frontier {
  Point2 pt;
  double value;
  Frontier() : pt{Point2()}, value{0} {}
  Frontier(Point2 const &p, double const &v) : pt{p}, value{v} {}
};
 
struct FrontierCompare {
  bool operator()(Frontier const &left, Frontier const &right) {
    return left.value > right.value;
  }
};
 
typedef std::priority_queue<Frontier, std::vector<Frontier>, FrontierCompare>
    queue_t; 
} /* namespace CoverageControl */
#endif  // CPPSRC_CORE_INCLUDE_COVERAGECONTROL_TYPEDEFS_H_